Transforms the trigger coordinates to world coordinates Args: bb ([type]): [description] parent ([type]): [description] trigger ([type]): [description] Returns: [type]: [description]
(self, bb, parent, trigger)
| 699 | |
| 700 | |
| 701 | def _trig_to_world(self, bb, parent, trigger): |
| 702 | """Transforms the trigger coordinates to world coordinates |
| 703 | |
| 704 | Args: |
| 705 | bb ([type]): [description] |
| 706 | parent ([type]): [description] |
| 707 | trigger ([type]): [description] |
| 708 | |
| 709 | Returns: |
| 710 | [type]: [description] |
| 711 | """ |
| 712 | bb_transform = carla.Transform(trigger.location) |
| 713 | bb_vehicle_matrix = self.get_matrix(bb_transform) |
| 714 | vehicle_world_matrix = self.get_matrix(parent.get_transform()) |
| 715 | bb_world_matrix = vehicle_world_matrix @ bb_vehicle_matrix |
| 716 | world_cords = bb_world_matrix @ bb.T |
| 717 | return world_cords |
| 718 | |
| 719 | def _create_2d_bb_points(self, actor_bb, scale_factor=1): |
| 720 | """ |
no test coverage detected